CN111003170B - Self-adaptive unfolding coaxial rotor system - Google Patents
Self-adaptive unfolding coaxial rotor system Download PDFInfo
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- CN111003170B CN111003170B CN201911345203.3A CN201911345203A CN111003170B CN 111003170 B CN111003170 B CN 111003170B CN 201911345203 A CN201911345203 A CN 201911345203A CN 111003170 B CN111003170 B CN 111003170B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/37—Rotors having articulated joints
Abstract
The invention discloses a self-adaptive unfolding coaxial rotor system, which comprises an upper rotor system and a lower rotor system, wherein the upper rotor system comprises a hub, an upper paddle clamp, an outer paddle clamp, an elastic module and a rotor; the lower rotor system comprises a hub, a lower paddle clamp, an outer paddle clamp, an elastic module and a rotor. The simple passive self-adaptive rotor wing unfolding mechanism is adopted, and the self-adaptive unfolding and folding functions of the rotor wing when the aircraft is switched between the non-working state and the working state are realized. Introduce outer oar and press from both sides the structure in traditional oar presss from both sides the design to spacing and the contact mode between the oar presss from both sides, reduced the friction in the mechanism rotation and reduced production and processing cost. Through the position relation setting between elasticity module axis and the oar presss from both sides the hinge, can obtain multiple different self-adaptation rotor wing and expand mechanism configuration, can select suitable configuration for use as required in the concrete implementation process. The invention is applied to the folding coaxial helicopter with throwing type, emission type or cluster tasks, and effectively expands the application scene of the coaxial helicopter.
Description
Technical Field
The invention relates to the field of helicopters, in particular to a self-adaptive unfolding coaxial rotor system.
Background
Compared with a single-rotor helicopter, the coaxial counter-rotor helicopter has the advantages that the rotating deflection moments of the double rotors are balanced, a tail rotor device can be omitted, the overall size of the helicopter is greatly reduced, and the assembly, the manufacture, the transportation and the storage are very facilitated. For some special application scenarios, such as requiring further reduction of the helicopter volume, or adopting a special throwing or catapult takeoff manner, etc., a folded rotor, an automatically deployed configuration, is required to reduce the helicopter footprint, or avoid damage to the rotor during the throwing or catapult takeoff.
The coaxial helicopters in the prior art usually adopt a transverse folding rotor configuration, and in actual operation, the rotor folds in the horizontal direction, so that the reduction ratio of the volume is small. In the existing long-axis type folding rotor coaxial helicopter technology, a scheme that the rotor is bent in the vertical direction is generally adopted, and the volume of the rotor can be reduced to a large extent. But what current vertical direction folding rotor scheme adopted usually is that simple articulated mode is implemented, needs the manual work to expand in advance when getting into operating condition, and its rotor can rock around the hinge along with the fuselage motion under non-operating condition, and rotor collision easily takes place to beat the oar accident about the rotor also takes place easily about transportation, storage in-process, takes off and land the in-process, leads to the rotor to damage, causes unnecessary economic loss, threatens operating personnel life safety even.
Therefore, how to obtain a coaxial rotor wing mechanism which has the advantages of small volume as much as possible and safe and reliable structure in a non-working state and can meet the automatic unfolding requirement of special lifting work becomes an important problem in the technical field of coaxial counter-propellers.
Disclosure of Invention
It is an object of the present invention to overcome the above problems and to provide an adaptively deployed coaxial rotor system.
In order to achieve the purpose, the method adopted by the invention is as follows: an adaptive deployment coaxial rotor system comprises an upper rotor system and a lower rotor system, wherein the upper rotor system comprises a hub, an upper blade clamp, an outer blade clamp, a rotor and an elastic module, and the lower rotor system comprises a hub, a lower blade clamp, an outer blade clamp, a rotor and an elastic module. The method is characterized in that: in the upper rotor wing system, a hub is hinged with an upper paddle clamp, the upper paddle clamp is hinged with an outer paddle clamp, and the outer paddle clamp is hinged with a rotor wing; the upper paddle clamp and the outer paddle clamp are respectively provided with a folding thrust surface to limit the maximum folding amplitude of the rotor wing; one end of the elastic module is connected with the upper paddle clamp, and the other end of the elastic module is connected with the outer paddle clamp; the elastic module provides folding restraining force for the upper rotor system. In the lower rotor wing system, a hub is hinged with a lower paddle clamp, the lower paddle clamp is hinged with an outer paddle clamp, and the outer paddle clamp is hinged with a rotor wing; the lower paddle clamp and the outer paddle clamp are respectively provided with a folding thrust surface to limit the maximum folding amplitude of the rotor wing; one end of the elastic module is connected with the upper paddle clamp, and the other end of the elastic module is connected with the outer paddle clamp; the elastic module provides folding constraint force for the lower rotor system.
The length of the upper paddle clamp and the length of the lower paddle clamp are required to ensure that the upper rotor system and the lower rotor system do not interfere with each other in a non-working folding state; the lower rotor system does not interfere with the central structure in the non-working folding state; when the upper and lower rotor systems are in any space attitude in the non-working folding state, the folding restraining force provided by the elastic module is larger than the restraining force required by the upper and lower rotor systems to be always kept in the folding state under the influence of gravity and natural wind power, so that the stable folding state of the upper and lower rotor systems is ensured; when the upper rotor system and the lower rotor system enter a working state, the upper rotor system firstly starts rotating motion, the lower rotor system then starts rotating motion, the upper rotor system and the lower rotor system are sequentially and automatically unfolded under the action of centrifugal force and keep rotating rotation in opposite directions, and the upper rotor system and the lower rotor system are kept not to interfere with each other in the automatic unfolding process.
As a preferred aspect of the present invention, the elastic module may be a spring mounted on the upper and lower paddle clamps and the corresponding outer paddle clamp; or a one-way or two-way elastic hinge arranged on the upper paddle clamp, the lower paddle clamp and the corresponding outer paddle clamp.
Preferably, the elastic module is a spring and is installed at the outer sides of the upper paddle clamp, the lower paddle clamp and the corresponding outer paddle clamp, an upper paddle clamp extension shaft is fixedly arranged on the upper paddle clamp, an outer paddle clamp extension shaft is fixedly arranged on the outer paddle clamp, and two ends of the elastic module are respectively sleeved on the upper paddle clamp extension shaft and the outer paddle clamp extension shaft. The lower oar presss from both sides to be fixedly provided with down the oar and presss from both sides the projecting shaft, and the elastic module both ends suit is on lower oar presss from both sides the projecting shaft and outer oar presss from both sides the projecting shaft respectively. The upper paddle clamp is provided with an upper paddle clamp upper plane, an upper paddle clamp lower plane and an upper paddle clamp semicircular side face. The lower paddle clamp is provided with a lower paddle clamp upper plane, a lower paddle clamp lower plane and a lower paddle clamp semicircular side face. Outer oar press from both sides and be provided with down spacing plane and last spacing plane, the contained angle of spacing plane sideline and last spacing plane sideline down is greater than 90 degrees and adds the required angle of waving of rotor period displacement. When the upper and lower rotor wing systems are in a non-working folding state, the outer paddle clamp is in contact limiting with the lower plane of the upper paddle clamp and the lower plane of the lower paddle clamp through the lower limiting plane. In any state of the upper and lower rotor systems, the outer paddle clamp can be in contact limit with the upper plane of the upper paddle clamp and the upper plane of the lower paddle clamp through the upper limit plane.
As a preferred aspect of the present invention, when the upper and lower rotor systems are in the non-operating state from the operating state, the design of the position of the rotor after the rotor is stopped may adopt two ways:
In a preferred embodiment of the present invention, the upper and lower rotor systems may be all folded down.
As a preferred aspect of the present invention, the upper and lower rotor systems are integrally designed in an inverted manner, so as to achieve a form that the upper and lower rotor systems are all folded upwards.
As a preferred aspect of the present invention, the distance between the upper and lower rotor systems is increased, and the lower rotor system is designed in an inverted manner, or is designed in an overall inverted manner based on the modification, so as to realize a form in which the upper and lower rotor systems are all folded toward the middle.
The upper rotor wing system adopts an inverted design, and the central structure of the aircraft is expanded above the upper rotor wing, so that the upper rotor wing system and the lower rotor wing system are folded towards the upper end part and the lower end part of the aircraft body; or based on the change mode, the upper part and the lower part are separated along the middle part and the design of translation interchange positions is adopted, so that the upper rotor wing system and the lower rotor wing system are folded towards the middle direction of the machine body. In the 2 forms, the constraint condition of the self-adaptive unfolding coaxial rotor system on the length relation of the upper paddle clamp and the lower paddle clamp and the constraint condition of the starting rotation sequence of the upper rotor system and the lower rotor system can be cancelled.
Has the advantages that:
compared with the prior art, the technical scheme of the invention adopts a simple passive self-adaptive rotor wing unfolding mechanism to realize the self-adaptive unfolding and folding functions of the rotor wing when the aircraft is switched between the non-working state and the working state. An outer paddle clamp structure is introduced into a traditional paddle clamp design, elastic constraint force, limiting, contact and interference avoidance problems among the paddle clamps are well designed, friction in mechanism rotation is reduced, and production and processing cost is reduced. Through the position relation setting between elastic module installation axis and the oar clamp hinge, can obtain multiple different self-adaptation rotor wing deployment mechanism configuration, can select suitable configuration according to the demand is nimble for use in the concrete implementation in-process. The technical scheme of the invention can be applied to a throwing type or emission type helicopter, and effectively expands the application scene of the helicopter.
Drawings
FIG. 1 is a schematic view of the general structure of an adaptively deployed rotor system in a folded state;
FIG. 2 is a schematic view of the overall configuration of an adaptively deployed rotor system in a semi-deployed state;
FIG. 3 is a partial schematic view of an adaptively deployed rotor system in a semi-deployed state;
FIG. 4 is a schematic view of a paddle clamp and outer paddle clamp configuration of an adaptively deployable rotor system in a collapsed to extreme position;
FIG. 5 is a schematic view of an outer paddle clamp configuration of the adaptive deployment rotor system in an operating state;
FIG. 6 is a schematic view of a blade clamp and outer blade clamp configuration of an adaptively deployed rotor system in a deployed to limit position;
FIG. 7 is a schematic representation of the general structure of an adaptively deployed rotor system in its deployed to extreme position;
FIG. 8 is a schematic representation of the general structure of an adaptively deployed rotor system during deployment;
FIG. 9 is a schematic view of an alternative embodiment of an adaptively deploying rotor system with both upper and lower rotors folded toward the middle;
FIG. 10 is a schematic view of an alternative embodiment of an adaptively deployed rotor system with both upper and lower rotors folded outwardly;
fig. 11 is a schematic view of another embodiment of an adaptively deploying rotor system in which both upper and lower rotors are folded toward the middle.
Fig. 1 to 8 show that 1, a hub, 2, an upper paddle clip, 3, an outer paddle clip, 4, a rotor, 5, an elastic module, 6, a lower paddle clip, 2a, an upper paddle clip extension shaft, 2b, an upper paddle clip lower plane, 2c, an upper paddle clip upper plane, 2d, an upper paddle clip semicircular side, 3a, an outer paddle clip extension shaft, 3b, a lower limiting plane, 3c, an upper limiting plane, 3d, a lower limiting plane side, 3e, an upper limiting plane side, 6a, a lower paddle clip extension shaft, 6b, a lower paddle clip lower plane, 6c, a lower paddle clip upper plane, 6d, a lower paddle clip semicircular side, 7, an upper paddle clip, a lower paddle clip, and an outer paddle clip hinge end.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific examples, which are carried out on the premise of the technical solution of the present invention, and it should be understood that these examples are only for illustrating the present invention and are not intended to limit the scope of the present invention.
Example 1:
fig. 1 and fig. 2 show a structural schematic diagram of an adaptively deployed coaxial rotor system disclosed in this embodiment, which includes an upper rotor system and a lower rotor system, where the upper rotor system includes a hub 1, an upper blade clamp 2, an outer blade clamp 3, a rotor 4, and a flexible module 5, and the lower rotor system includes a hub 1, a lower blade clamp 6, an outer blade clamp 3, a rotor 4, and a flexible module 5. As shown in fig. 3 to 6, in the upper rotor system, a hub 1 is hinged to an upper blade clamp 2, the upper blade clamp 2 is hinged to an outer blade clamp 3, and the outer blade clamp 3 is hinged to a rotor 4; the upper paddle clamp 2 and the outer paddle clamp 3 are respectively provided with a folding thrust surface 2b and a folding thrust surface 3b to limit the maximum folding amplitude of the rotor 4; one end of the elastic module 5 is connected with the upper paddle clamp 2, and the other end of the elastic module is connected with the outer paddle clamp 3; the elastic module 5 provides folding restraining force for the upper rotary wing system. In the lower rotor wing system, a hub 1 is hinged with a lower paddle clamp 6, the lower paddle clamp 6 is hinged with an outer paddle clamp 3, and the outer paddle clamp 3 is hinged with a rotor wing 4; folding thrust surfaces 6b and 3b are respectively arranged on the lower paddle clamp 6 and the outer paddle clamp 3 to limit the maximum folding amplitude of the rotor 4; one end of the elastic module 5 is connected with the upper paddle clamp 2, and the other end of the elastic module is connected with the outer paddle clamp 3; the elastic module 5 provides the folding constraint force of the lower rotor system.
The length of the upper propeller clamp 2 and the length of the lower propeller clamp 6 are required to ensure that the upper rotor system and the lower rotor system do not interfere with each other in a non-working folding state; the lower rotor system does not interfere with the central structure in the non-working folding state; when the upper and lower rotor systems are in any space attitude in the non-working folding state, the folding restraining force provided by the elastic module 5 is larger than the restraining force required by the upper and lower rotor systems to be always kept in the folding state under the influence of gravity and natural wind power, so that the stable folding state of the upper and lower rotor systems is ensured; when the upper rotor system and the lower rotor system enter a working state, the upper rotor system firstly starts rotating motion, the lower rotor system then starts rotating motion, the upper rotor system and the lower rotor system are sequentially and automatically unfolded under the action of centrifugal force and keep rotating rotation in opposite directions, and the upper rotor system and the lower rotor system are kept not to interfere with each other in the automatic unfolding process.
In this embodiment, the elastic module 5 may be a spring installed on the upper and lower paddle clamps 2 and 6 and the corresponding outer paddle clamp 3; or may be a one-way or two-way elastic hinge mounted to the upper and lower paddle clamps 2 and 6 and the corresponding outer paddle clamp 3.
In this embodiment, elastic module 5 adopt a spring and install in upper and lower oar press from both sides 2 and 6 and the corresponding outer oar press from both sides the outside of 3, go up the oar and press from both sides 2 fixed being provided with oar clamp projecting shaft 2a, outer oar presss from both sides 3 and goes up the fixed outer oar clamp projecting shaft 3a that is provided with of fixed being provided with of 3, elastic module 5 both ends suit respectively at last oar clamp projecting shaft 2a and outer oar clamp projecting shaft 3 a. The lower oar presss from both sides and fixedly is provided with lower oar clamp projecting shaft 6a on 6, and the suit is on lower oar clamp projecting shaft 6a and outer oar clamp projecting shaft 3a respectively at 5 both ends of elasticity module. The upper paddle clamp 2 is provided with an upper paddle clamp upper plane 2c, an upper paddle clamp lower plane 2b and an upper paddle clamp semicircular side face 2 d. The lower paddle clamp 6 is provided with a lower paddle clamp upper plane 6c, a lower paddle clamp lower plane 6b and a lower paddle clamp semicircular side surface 6 d. Outer oar press from both sides and 3 on be provided with lower spacing plane 3b and last spacing plane 3c, the contained angle of lower spacing plane sideline 3d and last spacing plane sideline 3e is greater than 90 degrees and adds the required angle of waving of rotor period displacement, wave the angle reference value in this embodiment and be: less than 15 degrees. When the upper and lower rotor wing systems are in a non-working folding state, the outer paddle clamp 3 is in contact limiting with the upper paddle clamp lower plane 2b and the lower paddle clamp lower plane 6b through the lower limiting plane 3 b. In any state of the upper and lower rotor wing systems, the outer paddle clamp 3 can be contacted and limited by the upper limiting plane 3c, the upper plane 2c of the upper paddle clamp and the upper plane 6c of the lower paddle clamp.
In this embodiment, when the upper and lower rotor systems enter the non-operating state from the operating state, the position design after the rotor stops can adopt two modes:
In this embodiment, the upper and lower rotor systems are both folded down.
Example 2:
the rest technical solutions in this embodiment are the same as those in embodiment 1, except that the upper and lower rotor systems in this embodiment are entirely folded upward by adopting the inverted design of the solution in embodiment 1;
example 3:
the remaining technical solutions in this embodiment are the same as those in embodiment 1, except that the distance between the upper and lower rotor systems in this embodiment is increased, and the lower rotor system is designed in an inverted manner, as shown in fig. 9, so as to implement a form in which all the upper and lower rotor systems are folded toward the middle.
Example 4:
the rest of the technical solutions in this embodiment are the same as those in embodiment 3, except that the upper and lower rotor systems in embodiment 3 (as shown in fig. 9) are designed to be integrally inverted, so as to implement a form in which the upper and lower rotor systems are all folded toward the middle.
Example 5:
the rest technical solutions in this embodiment are the same as embodiment 1, except that the upper rotor system in this embodiment is designed in an inverted manner, as shown in fig. 10, the upper and lower rotor systems are folded toward the upper and lower end portions of the body, and this embodiment can cancel the constraint condition of the self-adaptive unfolding coaxial system on the length relationship between the upper and lower paddle clamps and the constraint condition on the sequence of the starting rotational motion of the upper and lower rotor systems.
Example 6:
the remaining technical solutions in this embodiment are the same as those in embodiment 5, except that the upper and lower rotor systems are separated and designed to be shifted and interchanged in position, as shown in fig. 11, a form in which both the upper and lower rotor systems are folded toward the middle of the fuselage is realized.
The technical means disclosed by the scheme of the invention are not limited to the technical means disclosed by the technical means, and the technical scheme also comprises the technical scheme formed by any combination of the technical characteristics. While the foregoing is directed to embodiments of the present invention, it will be appreciated by those skilled in the art that various changes may be made in the embodiments without departing from the principles of the invention, and that such changes and modifications are intended to be included within the scope of the invention.
Claims (7)
1. An adaptively deploying coaxial rotor system comprising an upper rotor system and a lower rotor system, wherein: the upper rotor system comprises a hub, an upper rotor clamp, an outer rotor clamp, a rotor wing and an elastic module, and the lower rotor system comprises a hub, a lower rotor clamp, an outer rotor clamp, a rotor wing and an elastic module; in the upper rotor wing system, a hub is hinged with an upper paddle clamp, the upper paddle clamp is hinged with an outer paddle clamp, and the outer paddle clamp is hinged with a rotor wing; the upper paddle clamp and the outer paddle clamp are respectively provided with a folding thrust surface to limit the maximum folding amplitude of the rotor wing; one end of the elastic module is connected with the upper paddle clamp, and the other end of the elastic module is connected with the outer paddle clamp; the elastic module provides folding constraint force for the upper rotary wing system; in the lower rotor wing system, a hub is hinged with a lower paddle clamp, the lower paddle clamp is hinged with an outer paddle clamp, and the outer paddle clamp is hinged with a rotor wing; the lower paddle clamp and the outer paddle clamp are respectively provided with a folding thrust surface to limit the maximum folding amplitude of the rotor wing; one end of the elastic module is connected with the upper paddle clamp, and the other end of the elastic module is connected with the outer paddle clamp; the elastic module provides folding constraint force for the lower rotor system;
the upper rotor system and the lower rotor system are not interfered with each other in the non-working folding state; the lower rotor system does not interfere with the central structure in the non-working folding state; when the upper rotor system and the lower rotor system are in a non-working folding state and in any space posture, the folding constraint force provided by the elastic module is larger than the constraint force required by the upper rotor system and the lower rotor system to be always kept in a folding state under the influence of gravity and natural wind power, so that the stable folding state of the upper rotor system and the lower rotor system is ensured; when the upper rotor system and the lower rotor system enter a working state, the upper rotor system starts to rotate firstly, the lower rotor system starts to rotate later, the upper rotor system and the lower rotor system automatically unfold in sequence under the action of centrifugal force and keep rotating in opposite directions, and the upper rotor system and the lower rotor system are kept not to interfere with each other in the automatic unfolding process.
2. An adaptively deploying coaxial rotor system according to claim 1, wherein said elastic module is a spring mounted to said upper paddle grip, lower paddle grip and respective outer paddle grips; or a one-way or two-way elastic hinge arranged on the upper paddle clamp, the lower paddle clamp and the corresponding outer paddle clamp.
3. The adaptive unfolding coaxial rotor system according to claim 2, wherein the elastic module is a spring and is mounted on the outer sides of the upper paddle clamp, the lower paddle clamp and the corresponding outer paddle clamp, an upper paddle clamp extension shaft is fixedly arranged on the upper paddle clamp, an outer paddle clamp extension shaft is fixedly arranged on the outer paddle clamp, and two ends of the spring are respectively sleeved on the upper paddle clamp extension shaft and the outer paddle clamp extension shaft; a lower paddle clamp extension shaft is fixedly arranged on the lower paddle clamp, and two ends of the spring are respectively sleeved on the lower paddle clamp extension shaft and the outer paddle clamp extension shaft; the upper paddle clamp is provided with an upper paddle clamp upper plane, an upper paddle clamp lower plane and an upper paddle clamp semicircular side face; the lower paddle clamp is provided with a lower paddle clamp upper plane, a lower paddle clamp lower plane and a lower paddle clamp semicircular side face; the outer paddle clamp is provided with a lower limiting plane and an upper limiting plane, and the included angle between the sideline of the lower limiting plane and the sideline of the upper limiting plane is larger than the waving angle required by 90 degrees plus periodic variable pitch of the rotor; when the upper rotor wing system and the lower rotor wing system are in a non-working folding state, the outer paddle clamp is in contact limiting with the lower plane of the upper paddle clamp and the lower plane of the lower paddle clamp through the lower limiting plane; when the upper rotor wing system and the lower rotor wing system are in any state, the outer paddle clamp is in contact limiting with the upper plane of the upper paddle clamp and the upper plane of the lower paddle clamp through the upper limiting plane.
4. An adaptively deploying coaxial rotor system according to any of claims 1 to 3, wherein said upper and lower rotor systems are brought from an operational state to a non-operational state, and wherein the post-rotor-stall position is achieved by one of:
in the mode 1, when the rotor wing is at the unfolding limit position, the connecting line of the center of the extension shaft of the upper paddle clamp and the center of the extension shaft of the outer paddle clamp is positioned below the central axis of the hinged end of the upper paddle clamp and the outer paddle clamp, and the connecting line of the center of the extension shaft of the lower paddle clamp and the center of the extension shaft of the outer paddle clamp is positioned below the central axis of the hinged end of the lower paddle clamp and the outer paddle clamp; when the self-adaptive unfolding coaxial rotor system enters a non-working state from a working state, the lower rotor system rotates and decelerates firstly, the upper rotor system rotates and decelerates later, rotors of the lower rotor system and the upper rotor system are automatically folded to the maximum amplitude limit gradually and gradually under the action of the tensile force of the elastic modules, and the lower rotor system and the upper rotor system are kept not to interfere with each other in the automatic folding process;
in the mode 2, when the rotor wing is at the unfolding limit position, the connecting line of the center of the extension shaft of the upper paddle clamp and the center of the extension shaft of the outer paddle clamp is positioned above the central axis of the hinged end of the upper paddle clamp and the outer paddle clamp, and the connecting line of the center of the extension shaft of the lower paddle clamp and the center of the extension shaft of the outer paddle clamp is positioned above the central axis of the hinged end of the lower paddle clamp and the outer paddle clamp; when the self-adaptive unfolding coaxial rotor system enters a non-working state from a working state, the upper rotor system and the lower rotor system rotate and decelerate at the same time, the lower rotor system and the upper rotor system continue to keep an unfolding state under the action of the tensile force of the elastic module and finally stay at a maximum amplitude limiting position, and the lower rotor system and the upper rotor system keep mutual noninterference in a stopping process.
5. An adaptively deploying coaxial rotor system according to claim 1 or 2, wherein said upper and lower rotor systems are folded in a manner that: adopting a form of folding all the components downwards; or the upper rotor system and the lower rotor system are integrally inverted, so that the upper rotor system and the lower rotor system are completely folded upwards.
6. An adaptively deploying coaxial rotor system according to claim 1 or 2, wherein said upper and lower rotor systems are folded in a manner that: the lower rotor system is inverted; or an integral inversion mode based on the mode is adopted, so that the upper rotor system and the lower rotor system are folded towards the middle.
7. An adaptively deploying coaxial rotor system according to claim 1 or 2, wherein said upper and lower rotor systems are folded in a manner that: the upper rotor wing system is inverted, and the central structure of the aircraft is expanded above the upper rotor wing, so that the upper rotor wing system and the lower rotor wing system are folded towards the upper end part and the lower end part of the aircraft body; or based on the mode, the upper part and the lower part are separated along the middle part and the position of the upper part and the lower part is exchanged by translation, so that the upper rotor system and the lower rotor system are folded towards the middle direction of the fuselage.
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| CN201911345203.3A CN111003170B (en) | 2019-12-24 | 2019-12-24 | Self-adaptive unfolding coaxial rotor system |
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| CN113562171B (en) * | 2021-09-10 | 2024-03-05 | 陕西蓝悦无人机技术有限公司 | Folding helicopter rotor system and support-free light unmanned aerial vehicle |
| CN115703547B (en) * | 2022-11-03 | 2023-04-07 | 北京瀚科智翔科技发展有限公司 | Automatic take-off control system and method for folding coaxial double-propeller unmanned aerial vehicle |
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| CN205273854U (en) * | 2015-11-30 | 2016-06-01 | 湖北易瓦特科技股份有限公司 | Coaxial structure of double -oar with folding assembly |
| CN205524979U (en) * | 2016-02-05 | 2016-08-31 | 胡家祺 | Rotor unmanned aerial vehicle |
| CN206218219U (en) * | 2016-11-21 | 2017-06-06 | 北京瀚科瑞杰科技发展有限公司 | A kind of MAV of column coaxial double-oar layout |
| CN207523930U (en) * | 2017-11-23 | 2018-06-22 | 安徽民生信息股份有限公司 | A kind of foldable DCB Specimen individual soldier unmanned plane |
| CN207683779U (en) * | 2017-12-22 | 2018-08-03 | 宝鸡特种飞行器工程研究院有限公司 | Portable unmanned machine coaxial double-oar fold mechanism |
| CN108275264A (en) * | 2018-03-05 | 2018-07-13 | 南京韬讯航空科技有限公司 | A kind of foldable coaxial dual-rotor helicopter and its control method |
| CN110481769A (en) * | 2019-08-30 | 2019-11-22 | 祖亚军 | Unmanned flight's device based on coaxial double-rotary wing |
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